Movement driving system of movable X-ray machine

Abstract

The utility model discloses a mobile driving system of a mobile X-ray machine, and belongs to the technical field of medical equipment. Which comprises a vehicle body used for placing the X-ray machine and a driving motor used for driving wheels at the bottom of the vehicle body to rotate, and is characterized in that a driving mechanism is arranged and comprises a main frame (5) fixed to the vehicle body, force sensors (3) are arranged on the two sides of the main frame (5) respectively, and the force sensors (3) on the two sides are connected with a transmission mechanism respectively; the transmission mechanisms on the two sides are connected through a handrail (1), the force sensors (3) on the two sides are connected with a main control module of a control circuit, and the main control module is connected with a left driving motor and a right driving motor. In the movement driving system of the movable X-ray machine, the force sensors on the two sides are used for sensing the driving mode of medical staff, the output values of the force sensors on the two sides are used for controlling the driving motors on the two sides, various movement states of the vehicle body can be achieved more conveniently, and operation errors are avoided.

Description

Technical Field

[0001] The invention discloses a mobile driving system of a mobile X-ray machine, belonging to the technical field of medical equipment. Background Art

[0002] X-ray machines are a common fluoroscopic equipment in hospital imaging departments. However, in some special cases, it is necessary to isolate the patient for fluoroscopy. At this time, the X-ray camera needs to be combined with the vehicle body to realize the movement of the X-ray machine. Traditional mobile X-ray machines require manpower to move, such as the technical solution disclosed in the Chinese utility model with application number 201720419898.5, application date April 20, 2017, and patent name "A Mobile X-ray Machine". When moving an X-ray machine that relies on manpower to move, it will greatly increase the labor intensity of medical staff, and because the X-ray machine is heavy, it is more difficult to control when turning, stopping, etc.

[0003] With the advancement of technology, some technical solutions for electric control-driven X-ray machines have also appeared on the market, such as the technical solution disclosed in the Chinese utility model with application number 201420392568.8, application date July 16, 2014, and patent name "Mobile X-ray Machine"; and the technical solution disclosed in the Chinese utility model with application number 201620699584.0, application date July 5, 2016, and patent name "A Mobile X-ray Digital Photography System". The technical solution of the electric-driven X-ray machine greatly reduces the labor stress of medical staff. However, in the electric-driven X-ray machine including the above-mentioned technical solutions, when realizing the forward, backward or turning of the X-ray machine, it is necessary to use a special control device (such as a button), and it is difficult to control the X-ray machine to accelerate and move, and there are certain requirements for the operation of medical staff. Once an operation error occurs, there is a great safety hazard. Utility Model Content

[0004] The technical problem to be solved by the utility model is: to overcome the shortcomings of the prior art and provide a mobile driving system for a mobile X-ray machine which utilizes force sensors on both sides to sense the driving mode of medical staff and utilizes the output values ​​of the force sensors on both sides to control the driving motors on both sides, thereby being more convenient to realize various moving states of the vehicle body and avoiding operating errors.

[0005] The technical solution adopted by the utility model to solve its technical problems is: the mobile driving system of the mobile X-ray machine includes a vehicle body for placing the X-ray machine, and is also provided with a driving motor for driving the wheels at the bottom of the vehicle body to rotate, and is characterized in that: the driving motor includes a left driving motor and a right driving motor for driving the wheels on both sides to rotate respectively, and is provided with a driving mechanism, the driving mechanism includes a main frame fixed to the vehicle body, force sensors are respectively arranged on both sides of the main frame, the force sensors on both sides are respectively connected to the transmission mechanism, the transmission mechanisms on both sides are connected through handrails, the force sensors on both sides are respectively connected to the main control module of the control circuit, and the main control module is respectively connected to the left driving motor and the right driving motor.

[0006] Preferably, the transmission mechanism comprises a swing plate, one end of which is rotatably connected to the main frame via a swing shaft, and the other end of the swing plate is connected to the force sensor.

[0007] Preferably, a connecting plate is fixed to one end of the swing plate close to the force sensor, and the armrest is connected between the connecting plates on both sides.

[0008] Preferably, the lower end of the force sensor is fixed to the main frame via a cushion block, and the upper end of the force sensor is fixed to the swing plate via a connecting frame, and the connecting frame is spaced apart from the main frame.

[0009] Preferably, a PWM speed regulation module is provided, the output end of the main control module is connected to the input end of the PWM speed regulation module, and the output end of the PWM speed regulation module is connected to the left drive motor and the right drive motor.

[0010] Preferably, a keyboard scanning module is provided, the output ends of the fine-tuning module and the anti-collision module are connected to the input end of the keyboard scanning module, and the output end of the keyboard scanning module is connected to the input end of the main control module.

[0011] Preferably, the anti-collision module is a proximity switch installed at the front end of the vehicle body, and both ends of the contact of the proximity switch are connected to the keyboard scanning module.

[0012] Preferably, the fine-tuning module includes a plurality of buttons for controlling the left drive motor to rotate forward or reverse, and for controlling the right drive motor to rotate forward or reverse.

[0013] Preferably, the force sensor is a cantilever beam sensor.

[0014] Compared with the prior art, the utility model has the following beneficial effects:

[0015] In the mobile drive system of the mobile X-ray machine, force sensors on both sides are used to sense the driving mode of medical staff, and the output values ​​of the force sensors on both sides are used to control the drive motors on both sides, which makes it easier to realize various moving states of the vehicle body and avoid operational errors.

[0016] In the mobile driving system of the mobile X-ray machine, an anti-collision module is provided, and when the vehicle body hits an obstacle, the driving motor is controlled by the main control module, thereby improving safety.

[0017] In the mobile driving system of the mobile X-ray machine, a fine-tuning module is provided to facilitate medical staff to fine-tune the position after pushing the vehicle body to a predetermined position, so that the X-ray machine is in the best position. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the driving mechanism structure of the mobile driving system of the mobile X-ray machine.

[0019] Figure 2 This is the principle block diagram of the control circuit of the mobile drive system of the mobile X-ray machine.

[0020] Figure 3 This is the circuit schematic diagram of the main control module of the mobile drive system control circuit of the mobile X-ray machine.

[0021] Figures 4 and 5 This is the circuit schematic diagram of the PWM speed regulation module of the mobile drive system control circuit of the mobile X-ray machine.

[0022] Figure 6 This is the circuit schematic diagram of the locking module of the mobile drive system control circuit of the mobile X-ray machine.

[0023] Figure 7 This is the circuit schematic diagram of the keyboard scanning module of the mobile drive system control circuit of the mobile X-ray machine.

[0024] Among them: 1, handrail 2, connecting plate 3, force sensor 4, swing plate 5, main frame 6, swing shaft 7, connecting frame. DETAILED DESCRIPTION

[0025] Figures 1 to 7 It is the best embodiment of the utility model, and the following Figures 1 to 7 The utility model is further described.

[0026] A mobile drive system for a mobile X-ray machine, comprising: Figure 1 The driving mechanism shown is fixed on the body surface of the mobile X-ray machine. The driving mechanism 1 includes a main frame 5, which is fixed on the body surface of the mobile X-ray machine. The main frame 5 is a rectangular frame, and a swing shaft 6 is rotatably mounted on the front ends of both sides of the main frame. The bottoms of the swing shafts 6 on both sides are rotatably connected to the side surfaces of the corresponding sides of the main frame 5, and the upper parts of the swing shafts 6 on both sides extend to the upper surface of the main frame 5.

[0027] A swing plate 4 is connected to the upper part of the swing shaft 6 on both sides, and the swing plates 4 on both sides extend backward along the upper surface of the main frame 5 to the rear side of the main frame 5. A force sensor 3 is vertically arranged on both sides of the rear end of the main frame 5, and the force sensor 3 is implemented by a cantilever beam sensor commonly used in the art. The bottom of the force sensors 3 on both sides are fixed to both sides of the rear surface of the main frame 5 through a pad, and the top of the force sensors 3 on both sides is spaced from the rear surface of the main frame 5. A connecting frame 7 is arranged on the inner side of the upper part of the force sensors 3 on both sides.

[0028] The cross section of the connecting frame 7 is "L" shaped, one surface of the connecting frame 7 is fixed to the force sensor 3, and the other surface of the connecting frame 7 extends to the outside of the main frame 5 and is fixed to the rear end of the swing plate 4 on the corresponding side. A connecting plate 2 is also provided on the outside of the rear ends of the swing plates 4 on both sides, and the connecting plates 2 on both sides are tilted, the bottom of the connecting plate 2 is fixed to the swing plate 4 on the corresponding side, and the top of the connecting plate 2 is tilted toward the rear and upper side of the main frame 5, and the tops of the connecting plates 2 on both sides are connected by handrails 1.

[0029] The signal output ends of the force sensors 3 on both sides are connected to the control circuit, and independent drive motors are provided at the wheels on both sides of the vehicle body: a right drive motor and a left drive motor. When the medical staff pushes the mobile X-ray machine to move, they hold both ends of the handrail 1 with both hands. When they need to move forward, backward or turn, the values ​​output by the force sensors 3 on both sides are different. The control circuit judges the walking intention of the medical staff according to the output values ​​of the force sensors 3 on both sides, and drives the vehicle body to move. For example, the force sensors 3 on both sides are set to the initial value when they are not affected by external forces. When the force sensors 3 on both sides are greater than the initial value, the control circuit drives the drive motors on both sides to rotate forward at the same time, and the vehicle body moves forward; similarly, when the force sensors 3 on both sides are less than the initial value, the control circuit drives the drive motors on both sides to reverse at the same time, and the vehicle body moves backward; if the output values ​​of the force sensors 3 on both sides continue to increase or decrease, the control circuit controls the vehicle body to accelerate forward or backward. When the output value of one of the force sensors 3 on both sides is smaller than the initial value and the output value of the other side is larger than the initial value, the control circuit drives the drive motor on the side with the smaller value to reverse and controls the drive motor on the other side to rotate forward to realize the turning of the vehicle body.

[0030] like Figure 2 As shown, the control circuit includes a main control module, and the output ends of the left sensor and the right sensor (the above-mentioned two-side force sensors 3) are respectively connected to the input end of the main control module. The signal output end of the main control module is connected to the input end of the PWM speed regulation module, and the output end of the PWM speed regulation module is connected to the above-mentioned right drive motor and left drive motor.

[0031] In the control circuit, there are also fine-tuning modules and anti-collision modules. The outputs of the fine-tuning modules and anti-collision modules are respectively connected to the inputs of the keyboard scanning modules. The output of the keyboard scanning modules is connected to the input of the main control module. The signal output of the main control module is connected to the locking module. The anti-collision module is a proximity switch installed at the front end of the vehicle body.

[0032] The main control module includes a combination of Figure 3 As shown, the integrated chip U1 of model STM32F103ZET is Figure 3 The well-known peripheral circuits of the integrated chip U1 are omitted. Figures 4 and 5 The PWM speed control module includes an integrated chip U2 of model ULN2803A, pins 1 to 5 of the integrated chip U2 are respectively connected to pins 97 to 101 of the integrated chip U1, pin 9 of the integrated chip U2 is grounded, and pin 10 is connected to a 12V DC power supply. The signal output end of the left sensor is connected to pins 24 and 25 of the integrated chip U1, and the signal output end of the right sensor is connected to pins 26 and 27 of the integrated chip U1.

[0033] The 12V DC power supply is simultaneously connected to one end of the resistor R1, the cathode of the diode D1 and one end of the coil of the relay JX1, and the other end of the resistor R1 is connected to the anode of the light-emitting diode E1, and the cathode of the light-emitting diode E1, the anode of the diode D1 and the other end of the coil of the relay JX1 are simultaneously connected to the 18th pin of the integrated chip U2. The 12V DC power supply is simultaneously connected to one end of the resistor R2, the cathode of the diode D2 and one end of the coil of the relay JX2, and the other end of the resistor R2 is connected to the anode of the light-emitting diode E2, and the cathode of the light-emitting diode E2, the anode of the diode D2 and the other end of the coil of the relay JX2 are simultaneously connected to the 17th pin of the integrated chip U2.

[0034] The 12V DC power supply is simultaneously connected to one end of the resistor R3, the cathode of the diode D5 and one end of the coil of the relay JX3, the other end of the resistor R3 is connected to the anode of the light-emitting diode E3, the cathode of the light-emitting diode E3, the anode of the diode D6 and the other end of the coil of the relay JX3 are simultaneously connected to the 16th pin of the integrated chip U2. The 12V DC power supply is simultaneously connected to one end of the resistor R4, the cathode of the diode D6 and one end of the coil of the relay JX4, the other end of the resistor R4 is connected to the anode of the light-emitting diode E4, the cathode of the light-emitting diode E4, the anode of the diode D6 and the other end of the coil of the relay JX4 are simultaneously connected to the 15th pin of the integrated chip U2.

[0035] The 48V DC power supply is connected to the normally open contacts of relays JX1~JX4 respectively. The moving ends of relays JX1~JX2 are simultaneously connected to the forward signal end and the reverse signal end of the left drive motor. The moving ends of relays JX3~JX4 are simultaneously connected to the forward signal end and the reverse signal end of the right drive motor. The normally closed contacts of relays JX1~JX2 are simultaneously connected to the drain of MOS tube V1, the anode of diode D3 and the cathode of diode D4. The cathode of diode D3 is simultaneously connected to the positive electrode of electrolytic capacitor C1 and the 48V DC power supply. The other end of electrolytic capacitor C1 is grounded. The anode of diode D4 and the source of MOS tube V1 are grounded. The normally closed contacts of relays JX3~JX4 are simultaneously connected to the drain of MOS tube V2, the anode of diode D7 and the cathode of diode D8. The cathode of diode D7 is connected to the 48V DC power supply. The anode of diode D8 and the source of MOS tube V2 are grounded.

[0036] Pin 2 and pin 4 of integrated chip U3 of model TC4427 are connected to pin 71 and pin 72 of integrated chip U1 respectively. Pin 5 of integrated chip U3 is connected to one end of resistor R7 and the gate of MOS tube V2 at the same time, and the other end of resistor R7 is connected in series with light emitting diode E7 and then grounded. Pin 7 of integrated chip U3 is connected to one end of resistor R6 and the gate of MOS tube V1 at the same time, and the other end of resistor R6 is connected in series with light emitting diode E6 and then grounded. Model of MOS tubes V1~V3 is SUP85N15.

[0037] like Figure 6 As shown, the locking module includes a relay JX5, a 12V DC power supply is simultaneously connected to one end of a resistor R5, a cathode of a diode D9 and one end of a coil of the relay JX5, the other end of the resistor R5 is connected to an anode of a light-emitting diode E5, and the cathode of the light-emitting diode E5, the anode of the diode D9 and the other end of the coil of the relay JX5 are simultaneously connected to the 14th pin of the integrated chip U2. The normally open contact and the moving end of the relay JX5 are respectively connected to the power input end of the electromagnet (not shown in the figure). The wheel is locked by the electromagnet. When the wheel is locked by the electromagnet, it can be achieved in the following way: if the electromagnet is fixed to the wheel axle, when the electromagnet is not supplied with power supply, the locking rod of the electromagnet is output into the fork of the wheel, and when the electromagnet is supplied with power, the locking rod of the electromagnet retracts to unlock the wheel.

[0038] like Figure 7As shown, in the keyboard scanning module, the integrated chip U3~U4 of model TLP521-4 is included, and the 12V DC power supply is connected to one end of the resistors R8~R15 at the same time, and the other end of the resistors R8~R11 is respectively connected to the 7th pin, 5th pin, 3rd pin and 1st pin of the integrated chip U4, and the other end of the resistors R12~R15 is respectively connected to the 7th pin, 5th pin, 3rd pin and 1st pin of the integrated chip U3. The 3.3V DC power supply is respectively connected to one end of the resistors R16~R23, and the other end of the resistors R16~R19 is respectively connected to the 13th pin to the 16th pin of the integrated chip U1, and the other end of the resistors R16~R19 is also respectively connected to the 16th pin, 14th pin, 12th pin and 10th pin of the integrated chip U3. The other end of the resistors R20~R23 is respectively connected to the 17th pin to the 20th pin of the integrated chip U1, and the other end of the resistors R20~R23 is also respectively connected to the 16th pin, 14th pin, 12th pin and 10th pin of the integrated chip U4.

[0039] Pins 2 and 4 of the integrated chip U3 are connected in series with light-emitting diodes E8~E9 and then connected to pins 1 and 3 of terminal J1. Pins 2 and 4 of terminal J1 are grounded. An unlock button is connected between pins 1 and 2 of terminal J1, and both ends of the proximity switch (anti-collision module) are connected between pins 1 and 2 of terminal J1.

[0040] Pins 2, 4, 6 and 8 of the integrated chip U4 are connected in series with light-emitting diodes E10~E13 respectively, and then connected to pins 1, 3, 5 and 7 of terminal J2. Pins 2, 4, 6 and 8 of terminal J1 are grounded respectively. A button for controlling the forward rotation (forward rotation) of the left drive motor is connected between pins 1 and 2 of terminal J2, a button for controlling the reverse rotation (backward rotation) of the left drive motor is connected between pins 3 and 4 of terminal J2, a button for controlling the forward rotation (forward rotation) of the right drive motor is connected between pins 5 and 6 of terminal J2, and a button for controlling the reverse rotation (backward rotation) of the right drive motor is connected between pins 7 and 8 of terminal J2. The four buttons connected to terminal J2 that respectively control the forward rotation and reverse rotation of the left drive motor and the right drive motor constitute the above-mentioned fine-tuning module.

[0041] The specific working process and working principle are as follows:

[0042] Before pushing the vehicle, the medical staff first presses the unlock button. After pressing the unlock button, pin 2 of the integrated chip U3 becomes a low level, the optocoupler between pins 1 and 2 is turned on, pin 13 of the integrated chip U1 receives the signal, and pin 101 of the integrated chip U1 sends a signal to pin 5 of the integrated chip U2. Relay JX5 is activated and outputs a power signal to the electromagnet, and the electromagnet is unlocked.

[0043] The medical staff pushes the armrest 1, which causes the force sensors 3 on both sides to deform. The force sensors 3 on both sides output pressure signals to the integrated chip U1 respectively. The integrated chip U1 follows the above logic and controls the left drive motor and the right drive motor to rotate forward or reverse according to the size and change of the output signals of the force sensors 3 on both sides, thereby realizing the forward, backward and turning movements of the vehicle body.

[0044] If the front side of the vehicle hits an obstacle, the proximity switch will be triggered. After the proximity switch is closed, pin 3 of the integrated chip U3 becomes a low level, the optocoupler between pins 3 and 4 is turned on, and pin 14 of the integrated chip U1 receives the signal. The integrated chip U1 controls the left drive motor and the right drive motor to stop rotating.

[0045] When the medical staff needs to fine-tune the position of the X-ray machine after arriving at the destination, the medical staff presses the four buttons that respectively control the forward and reverse rotation of the left drive motor and the right drive motor. After the four buttons are turned on, the corresponding optocoupler in the integrated chip U4 is turned on, and the control signal is input to the corresponding pin of the integrated chip U1. The integrated chip U1 controls the rotation of the corresponding drive motor through the PWM speed regulation module to achieve fine-tuning of the position.

[0046] The above is only the preferred embodiment of the utility model, and does not limit the utility model in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the utility model without departing from the technical solution of the utility model still belongs to the protection scope of the technical solution of the utility model.

Claims

1. A mobile driving system for a mobile X-ray machine, comprising a vehicle body for placing the X-ray machine, and a driving motor for driving wheels at the bottom of the vehicle body to rotate, characterized in that: The driving motor comprises a left driving motor and a right driving motor respectively driving the wheels on both sides to rotate, and a driving mechanism is provided, the driving mechanism comprises a main frame (5) fixed to the vehicle body, force sensors (3) are respectively provided on both sides of the main frame (5), the force sensors (3) on both sides are respectively connected to the transmission mechanism, the transmission mechanisms on both sides are connected via an armrest (1), the force sensors (3) on both sides are respectively connected to the main control module of the control circuit, and the main control module is respectively connected to the left driving motor and the right driving motor.

2. The mobile drive system of the mobile X-ray machine according to claim 1, characterized in that: The transmission mechanism comprises a swing plate (4), one end of the swing plate (4) is rotatably connected to the main frame (5) via a swing shaft (6), and the other end of the swing plate (4) is connected to the force sensor (3).

3. The mobile drive system of the mobile X-ray machine according to claim 2, characterized in that: A connecting plate (2) is fixed to one end of the swing plate (4) close to the force sensor (3), and the handrail (1) is connected between the connecting plates (2) on both sides.

4. The mobile drive system of the mobile X-ray machine according to claim 2, characterized in that: The lower end of the force sensor (3) is fixed to the main frame (5) via a cushion block, and the upper end of the force sensor (3) is fixed to the swing plate (4) via a connecting frame (7), and the connecting frame (7) is spaced apart from the main frame (5).

5. The mobile drive system of the mobile X-ray machine according to claim 1, characterized in that: A PWM speed regulation module is provided, the output end of the main control module is connected to the input end of the PWM speed regulation module, and the output end of the PWM speed regulation module is connected to the left drive motor and the right drive motor.

6. The mobile drive system of the mobile X-ray machine according to claim 1, characterized in that: A keyboard scanning module is provided, and the output ends of the fine-tuning module and the anti-collision module are connected to the input end of the keyboard scanning module, and the output end of the keyboard scanning module is connected to the input end of the main control module.

7. The mobile drive system of the mobile X-ray machine according to claim 6, characterized in that: The anti-collision module is a proximity switch installed at the front end of the vehicle body, and both ends of the contact of the proximity switch are connected to the keyboard scanning module.

8. The mobile drive system of the mobile X-ray machine according to claim 6, characterized in that: The fine-tuning module includes a plurality of buttons for controlling the forward or reverse rotation of the left drive motor and the forward or reverse rotation of the right drive motor.

9. The mobile drive system of the mobile X-ray machine according to claim 1, characterized in that: The force sensor (3) is a cantilever beam type sensor.

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